Testing tutorials on Jazzy

[mikeferguson]

I'm testing things out, trying to run from Debians to see if we can switch the install docs. Notes:

• Switched to ros-testing - to get Moveit2 version 2.12.0 (sudo apt install ros-jazzy-moveit)
• Had to build moveit_task_constructor ros2 branch - since it's not available in Debians yet for Jazzy?
• Did the rosdep command to install dependencies - package 'kinova_gen3_7dof_robotiq_2f_85_moveit_config' is not found or installable - I cloned the repo and then put a COLCON_IGNORE into kortex_api, kortex_bringup and kortex_driver folders. Also installed ros2_robotiq_gripper and serial per the moveit2.repos
• Workspace then built successfully
• First tutorial
  • package 'kinova_gen3_7dof_robotiq_2f_85_moveit_config' not found so it doesn't load (until I clone the repo)
  • Then: Invalid parameter "isaac_joint_commands" - switched to sea-bass's branch and then it works...
• Your First Project - code compiles and runs.
• Visualizing in RVIZ - compiles and runs - although I get [hello_moveit.rviz_visual_tools]: Topic /rviz_visual_tools unable to connect to any subscribers within 5 sec. It is possible initially published visual messages will be lost. and have to press Next several times
• Planning around objects - compiles, runs, same note about the rviz_visual_tools topic issue.
• Pick and Place Tutorial - works, but posts some pretty loud errors to the terminal:
  • spawner_panda_hand_controller]: Failed loading controller panda_hand_controller - it appears this might be a red herring and Controller already loaded, skipping load_controller

TODO:

• [ ] Update install instructions to not force a build from source
• [ ] Release moveit_task_constructor into Debians, or note that it also has to be built from source
• [ ] Sort out what to do with kinova_gen3_7dof_robotiq_2f_85_moveit_config

[sea-bass]

I don't think MoveIt Task Constructor has any debians for ROS 2:

https://index.ros.org/search/?term=moveit_task_constructor

However, those Kinova moveit config packages do seem to be?

https://index.ros.org/search/?term=kinova&section=pkgs

[mikeferguson]

Huh - the kinova packages are in rolling as debians - but not jazzy... - ticketed here: https://github.com/Kinovarobotics/ros2_kortex/issues/256

[sea-bass]

I think the package index is lying to us... looking at the rosdistro PRs, this information is consistent with your findings.

https://github.com/ros/rosdistro/pulls?q=is%3Apr+ros2_kortex

No PRs since 2023 and none targeting Jazzy.

I'm guessing my standing PR (https://github.com/Kinovarobotics/ros2_kortex/pull/228) among other things, is still blocking them from actually releasing to 24.04 / the post Gazebo classic world.

BTW that branch/fork of ros2_kortex is what this repo is currently using.

[mikeferguson]

BTW that branch/fork of ros2_kortex is what this repo is currently using.

Yours of course! And it works with that - fails with mainline...

[mikeferguson]

Alright, once 2.12.x lands in debians, I suggest we:

• Update moveit2_tutorials.repos, with just the following (everything else is working from Debians):
  • moveit_task_constructor
  • the branched ros2_kortex
  • ros2_robotiq_gripper
  • serial (also a random branch)
• Update the getting started page to NOT remove moveit from debians, and just build the above (the above should work fine for both jazzy and rolling - I'm not sure about humble at the moment - that might still require installing everything?)

[gavanderhoorn]

I think the package index is lying to us...

For checking state of (released) packages, I'd only check what repo.ros2.org/status_page says.

For the Kinova pkgs:

• status_page/ros_rolling_default.html?q=kinova
• status_page/ros_jazzy_default.html?q=kinova
• status_page/ros_humble_default.html?q=kinova

Task constructor:

• status_page/ros_rolling_default.html?q=moveit_t
• status_page/ros_jazzy_default.html?q=moveit_t
• status_page/ros_humble_default.html?q=moveit_t

[mikeferguson]

I have not gotten back to this - and the above is likely out of date at this point